Locomotion generation of friction board with an inclined slider

There are various ways to generate the locomotion and moving systems. In this research, we design a new moving system without wheels, named friction board system, that realizes locomotion with internal actuated mass mounted on an inclined slider of a board. Directional locomotion can be generated by the motion of the internal mass on the slider and friction between the board and the horizontal ground. By inclining the slider, the friction board system can control the friction force and realize more effective locomotion. First, dynamic equations of the friction board system are derived. Then a feedback controller for locomotion is devised using LQ method. Finally the locomotion generation law of the friction board system is verified experimentally.